Surgical Robot Contact Sensing for Collision Avoidance
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Solution Overview
Problem
Medical robotic systems face challenges in predicting and preventing collisions, especially with dynamic objects, which can disrupt medical procedures and are difficult to anticipate using existing technologies.
Innovation Solution
The implementation of sensors on kinematic components to detect contact forces or parameters, allowing for real-time adjustments in configuration to avoid future collisions by generating an object map and optimizing the robotic arm's configuration based on detected contact information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensors are added to detect contact parameters, then collision detection capability is improved, but device complexity increases
Solution Approach 1:
The robotic arm is divided into multiple segments with sensors placed at specific locations (distal end, proximal end, intermediate sections). Each sensor detects contact parameters at its local position, allowing distributed collision detection without requiring a single complex sensing system. This segmentation approach improves detection capability while keeping individual sensor units relatively simple.
Solution Approach 2:
The patent introduces sensors as intermediary elements between the robotic arm and the environment. These sensors act as mediators that detect contact parameters (force, pressure, vibration) and transmit this information to the control system, enabling collision detection without direct mechanical interaction between the robotic arm and external objects.
2Reliability
If real-time configuration adjustments are made to avoid collisions, then safety is improved, but response time may be affected
Solution Approach 1:
The system performs preliminary actions by continuously monitoring contact parameters and predicting potential collisions before they occur. When a collision is detected or predicted, the control system proactively adjusts the robotic arm configuration in advance to prevent the collision, rather than reacting after the collision occurs. This preliminary action approach improves safety while maintaining efficient response time.
Solution Approach 2:
The patent implements a feedback mechanism where sensors continuously detect contact parameters and feed this information back to the control system. The control system processes this feedback in real-time and adjusts the robotic arm configuration accordingly. This closed-loop feedback system ensures rapid response to collision events while maintaining overall system safety.
3Reliability
If sensors detect contact parameters continuously, then collision prediction is improved, but energy consumption increases
Solution Approach 1:
Instead of continuous monitoring, the system employs periodic sampling of contact parameters at strategically chosen intervals and locations along the robotic arm. Sensors detect parameters such as force, pressure, and vibration at specific sections (distal, proximal, intermediate) at periodic intervals, which is sufficient for collision prediction while significantly reducing energy consumption compared to continuous monitoring of the entire arm.
Solution Approach 2:
The patent applies local quality by placing sensors at specific critical locations along the robotic arm rather than uniformly distributing them. Sensors are positioned at the distal end, proximal end, and intermediate sections where collision risks are highest. This localized sensing approach improves collision prediction capability at these critical points while minimizing overall energy consumption by not monitoring the entire arm continuously.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution effectively reduces the occurrence of collisions, enhancing the safety and efficiency of medical procedures by enabling the robotic system to adapt to changing environments and dynamic objects.
Implementation Method 1
one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain
Data Source
AI summary
Robotic systems can be capable of collision detection and avoidance. A medical robotic system can include a first kinematic chain and one or more sensors positioned to detect one or more parameters of contact with one or more portions of the first kinematic chain. The medical robotic system can be configured to cause adjustment of a configuration of the first kinematic chain from a first configuration to a second configuration based on a constraint determined from the one or more parameters of contact with the first kinematic chain detected by the one or more sensors.